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dropwdown for kinematics implementation

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Sharwin24 2025-02-25 11:23:00 -06:00
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content/posts/delta-robot/index.md
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@ -26,6 +26,9 @@ The robot's forward and inverse kinematics were first implemented in a jupyter n
The forward and inverse kinematics were then implemented in C++ following the approach described on the Trossen Robotics forum [1]. The forward and inverse kinematics were then implemented in C++ following the approach described on the Trossen Robotics forum [1].
<div>
<details>
<summary>Forward and Inverse Kinematics C++ Implementation</summary>
```cpp ```cpp
void DeltaKinematics::forwardKinematics(const std::shared_ptr<DeltaFK::Request> request, std::shared_ptr<DeltaFK::Response> response) { void DeltaKinematics::forwardKinematics(const std::shared_ptr<DeltaFK::Request> request, std::shared_ptr<DeltaFK::Response> response) {
// Locally save the request data (joint angles) // Locally save the request data (joint angles)
@ -121,7 +124,7 @@ void DeltaKinematics::inverseKinematics(const std::shared_ptr<DeltaIK::Request>
response->joint_angles.theta3 = theta3; // [rad] response->joint_angles.theta3 = theta3; // [rad]
} }
``` ```
</div>